CN111796290B - 地面探测方法、地面探测器和自主移动设备 - Google Patents

地面探测方法、地面探测器和自主移动设备 Download PDF

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Publication number
CN111796290B
CN111796290B CN201910276304.3A CN201910276304A CN111796290B CN 111796290 B CN111796290 B CN 111796290B CN 201910276304 A CN201910276304 A CN 201910276304A CN 111796290 B CN111796290 B CN 111796290B
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China
Prior art keywords
ground
distance
detector
autonomous mobile
echo
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Chinese (zh)
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CN111796290A (zh
Inventor
高望书
张一茗
陈震
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Qfeeltech Beijing Co Ltd
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Qfeeltech Beijing Co Ltd
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Priority to CN201910276304.3A priority Critical patent/CN111796290B/zh
Priority to PCT/CN2020/078542 priority patent/WO2020207173A1/fr
Publication of CN111796290A publication Critical patent/CN111796290A/zh
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
CN201910276304.3A 2019-04-08 2019-04-08 地面探测方法、地面探测器和自主移动设备 Active CN111796290B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201910276304.3A CN111796290B (zh) 2019-04-08 2019-04-08 地面探测方法、地面探测器和自主移动设备
PCT/CN2020/078542 WO2020207173A1 (fr) 2019-04-08 2020-03-10 Procédé de détection de sol, détecteur de sol et dispositif mobile autonome

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910276304.3A CN111796290B (zh) 2019-04-08 2019-04-08 地面探测方法、地面探测器和自主移动设备

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CN111796290A CN111796290A (zh) 2020-10-20
CN111796290B true CN111796290B (zh) 2023-10-10

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CN (1) CN111796290B (fr)
WO (1) WO2020207173A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112704437B (zh) * 2020-12-23 2021-11-12 炬星科技（深圳）有限公司 扫地机器人控制方法、设备及存储介质
CN112764033B (zh) * 2020-12-24 2024-03-08 珠海格力电器股份有限公司 距离检测方法、装置及移动机器人
CN115047869A (zh) * 2020-12-30 2022-09-13 速感科技（北京）有限公司 自主移动设备的运动参数确定方法和装置
CN113008982B (zh) * 2021-02-08 2024-04-26 中科传启（苏州）科技有限公司 一种地面材质识别方法、装置及智能清洁装置
CN115919212A (zh) * 2021-02-10 2023-04-07 北京石头创新科技有限公司 清洁机器人脱困方法及清洁机器人
CN114625117A (zh) * 2021-05-06 2022-06-14 北京石头世纪科技股份有限公司 一种智能移动设备及其控制方法、电子设备、存储介质
CN113812889B (zh) * 2021-09-30 2022-11-29 深圳银星智能集团股份有限公司 一种自移动机器人
CN114237243A (zh) * 2021-12-16 2022-03-25 杭州图灵视频科技有限公司 移动机器人的防跌落方法、装置、电子设备及存储介质
CN114747980B (zh) * 2022-03-31 2024-06-18 苏州三六零机器人科技有限公司 扫地机器人出水量确定方法、装置、设备及存储介质

Citations (7)

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JPH01219663A (ja) * 1988-02-29 1989-09-01 Matsushita Electric Ind Co Ltd 床質判定器
JP2013156104A (ja) * 2012-01-30 2013-08-15 Hitachi Ltd 溶接部の超音波探傷装置及び超音波探傷方法
CN105595913A (zh) * 2014-11-13 2016-05-25 沃维克股份有限公司 具有支撑轮的吸嘴
CN105786005A (zh) * 2016-05-10 2016-07-20 广西升禾环保科技股份有限公司 扫地机械人控制系统
CN107625486A (zh) * 2017-09-20 2018-01-26 江苏美的清洁电器股份有限公司 材质测量的方法、装置及吸尘器的控制方法和吸尘器
CN108319266A (zh) * 2018-01-18 2018-07-24 安徽三弟电子科技有限责任公司 基于形状识别清扫机器的扫行方法及其控制系统
CN109375224A (zh) * 2018-09-30 2019-02-22 小狗电器互联网科技（北京）股份有限公司 一种悬崖检测方法、装置和扫地机器人

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130270459A1 (en) * 2012-04-16 2013-10-17 Alex Fontani Autonomous cleaning robot
CN106344357B (zh) * 2016-10-21 2019-01-18 张磊 一种电子导盲推车及导盲方法
CN109581390A (zh) * 2018-11-27 2019-04-05 北京纵目安驰智能科技有限公司 基于超声波雷达的地形检测方法、系统、终端和存储介质

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01219663A (ja) * 1988-02-29 1989-09-01 Matsushita Electric Ind Co Ltd 床質判定器
JP2013156104A (ja) * 2012-01-30 2013-08-15 Hitachi Ltd 溶接部の超音波探傷装置及び超音波探傷方法
CN105595913A (zh) * 2014-11-13 2016-05-25 沃维克股份有限公司 具有支撑轮的吸嘴
CN105786005A (zh) * 2016-05-10 2016-07-20 广西升禾环保科技股份有限公司 扫地机械人控制系统
CN107625486A (zh) * 2017-09-20 2018-01-26 江苏美的清洁电器股份有限公司 材质测量的方法、装置及吸尘器的控制方法和吸尘器
CN108319266A (zh) * 2018-01-18 2018-07-24 安徽三弟电子科技有限责任公司 基于形状识别清扫机器的扫行方法及其控制系统
CN109375224A (zh) * 2018-09-30 2019-02-22 小狗电器互联网科技（北京）股份有限公司 一种悬崖检测方法、装置和扫地机器人

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CN111796290A (zh) 2020-10-20
WO2020207173A1 (fr) 2020-10-15

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